CN101939711A - System and method for jerk limited trajectory planning for a path planner - Google Patents
System and method for jerk limited trajectory planning for a path planner Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/19—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/41—Servomotor, servo controller till figures
- G05B2219/41408—Control of jerk, change of acceleration
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43168—Motion profile planning for point to point control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/90—Specific system operational feature
- Y10S388/904—Stored velocity profile
Abstract
A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase comprises calculating a jerk value required to successfully reach end conditions during a move in progress. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control to reach a target position. The system further includes a device being controlled for a move and at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.
Description
Technical field
Theme disclosed herein is broadly directed to automatic motion controller, relates more specifically to the limited trajectory planning of acceleration.
Background technology
Path planning apparatus or path generating apparatus generally include motion controller.Path planning apparatus is used for controlling to be needed movable mechanical apparatus and determines moving of controlled member in the plant equipment.Adopt the plant equipment of path planning to be used for various industrial systems, such as making, assemble, packing and other ability.For example, servo motor is a kind of of this type of device.Moving of the element of other motor may command such as drill bit or mechanical arm.
The path generating apparatus uses various motion path algorithms and discrete time controller that path profile (path profile) is provided.Path profile is based on specific kinematic parameter.Specific kinematic parameter can comprise with the input of issuing orders: final position, maximal rate, peak acceleration, maximum deceleration and order acceleration.The starting condition that moves is determined by the original state of path planning apparatus, so initial position, initial velocity, initial acceleration and initial acceleration also are known values.
Acceleration is defined as the rate of change or the acceleration slope of acceleration.Therefore, acceleration is the derivative of acceleration and is an important variable in many application that need smooth start.The equation of motion that generates the constant acceleration path from the initial position to the final position according to acceleration, retarded velocity and constraint of velocity is well-known.Therefore, the above-mentioned known value and the equation of motion form system of equations, and this system of equations can be solved to obtain required track subsequently.
Can before carrying out any motion, solve the relevant equation of motion based on known/known variables.This method can access really and separate, but it need be not suitable for the complicated calculations of executed in real time.In addition, in many cases, complicated separating causes obtaining closed form.
Therefore, need a kind ofly to satisfy initial and final condition and be no more than the method for the time-based profile of program limit value simultaneously, and the disaggregation that can solve in real-time controller is provided in order to generate.
Summary of the invention
According to one embodiment of the present of invention, a kind of system that is used for generating in real time motion outline comprises processor.This processor is configured to be split as phase one and subordinate phase with moving.Phase one comprises that order moves towards the constant speed section, and subordinate phase is included in to move forward into to calculate between the departure date and successfully reaches the required acceleration value of end condition.
In another embodiment of the present invention, a kind of system that is used for generating in real time motion outline comprises processor.This processor is configured to transmit the command signal based on motion outline, will move to be split as phase one and subordinate phase, and calculate subordinate phase and must take to control to arrive the point of target location.This system also comprises and is configured to receive at least one input/output module of command signal and the controlled plant that is used to move.
In another embodiment of the present invention, a kind of method that is used for generating in real time motion outline comprises and is split as phase one and subordinate phase with moving.Phase one comprises that order moves towards the constant speed section, and subordinate phase is included in to move forward into to calculate between the departure date and successfully reaches the required acceleration value of end condition.
Description of drawings
Followingly be described in detail with reference to accompanying drawing, in the accompanying drawings:
Fig. 1 is the synoptic diagram of the control system of execution route planning according to an embodiment of the invention.
Fig. 2 shows seven sections the stacked graph that is used for the basic mobile type of one embodiment of the present of invention by the control system of Fig. 1.
Fig. 3 has shown to run through seven sections the common time ruler upper pathway order and the stacked graph of time relation.
Fig. 4 has shown the common time ruler upper pathway order of the section of running through 1-3 and the stacked graph of time relation.
Fig. 5 has shown the common time ruler upper pathway order of the section of existence 2 not and 6 and the stacked graph of time relation.
Fig. 6 has shown to have the common time ruler upper pathway order of new movement directive and the stacked graph of time relation.
Fig. 7 has shown the common time ruler upper pathway order with the new movement directive that exceeds program limit value and the stacked graph of time relation.
Fig. 8 has shown the section of running through 5-7 and the not common time ruler upper pathway order of the section of existence 6 and the diagram of time relation.
Embodiment
One embodiment of the present of invention relate to a kind of system and method, and it is used to generate and can be solved and satisfy the time-based motion outline that initial and final condition is no more than program limit value simultaneously in real time.Ultimate value can be minimum value or maximal value or its combination.
Referring now to Fig. 1, show the block diagram of programmable automatic controller (PAC) the type kinematic system 1 that is used for path planning according to one embodiment of present invention.PAC system 1 comprises PAC system type motion controller 9, PAC system type motion module (PMM) optic fibre connector row 5 and (PMM) motherboard 2 of being made up of microprocessor subsystem 3.Also can use processor system.PMM motherboard 2 also comprises some subsystems that comprise path maker 4.Path maker 4 is firmware subsystems of operation on the microprocessor 3 that is specifically designed to path planning.Support other firmware subsystem of the function of PMM motherboard 2 to comprise communication bus 6, such as PCI backplane drive device, state machine, command process, command interface, servocontrol, and other relevant hardware supported function.
The PAC kinematic system also comprises PMM Servo Control Board 8.Servo Control Board 8 can be and is housed in the inner daughter board of motion-control module (PMM).For example, Servo Control Board 8 usefulness act on the motion controller of the controlled member of plant equipment such as mechanical arm.
Best Times path between initial position and the target location is the path that utilizes the order acceleration value of user program.Yet, follow the Best Times path and be not suitable for real-time application.In order to follow the Best Times path, when treatment facility must fill order acceleration value it must calculate the precise time along the path when arriving the target location.If calculate precise time, then know ideal trajectory and can follow it.Find out whole mobile precise time and need solve the calculating that in many situations, does not produce the complexity that closed form separates.
In one embodiment of the invention, processor 3 utilizes to move and is split as two stage two stage orbit generation methods.In order as far as possible closely to follow the Best Times path in real time, processor 3 uses user-specified command acceleration value till subordinate phase begins.Before any motion of order, processor 3 reaches the required acceleration value of end condition moving forward between the departure date to each sampling period calculating.Equally, moving forward between the departure date, the bid value that will be used for acceleration with calculate for the current sampling period reach that the required acceleration value of end condition compares and with calculate reach the required acceleration value of end condition for next sampling period and compare.Bid value J when acceleration
cBe positioned at the acceleration value J in the current sampling period that calculates
nAcceleration value J with next sampling period that calculates
N+1Between the time, the acceleration value of carrying out at time n is J
nThe time that the subordinate phase that Here it is moves begins.
As a result, motion outline may closely be followed the Best Times path to the greatest extent in real time and can not surpassed program limit value or exceed the input command value of user's appointment.Motion outline shows the shortest time path that arrives the known target position, and wherein retarded velocity (or acceleration) began on the sampling period.Depend on end condition, the acceleration value that reaches end condition can be represented and be decelerated to than the retarded velocity of low velocity or accelerate to the acceleration of fair speed.
Based on the motion outline that generates before moving beginning, processor 3 transmits the command signal that moves that is used to carry out between known initial position and the known target position.I/O module 7 receives command signal from processor 3.
Referring now to the stacked graph of Fig. 2, show order of common time ruler upper pathway and the time relation of using dual stage process to generate.Fig. 2 also shows wherein needs seven sections to finish mobile basic mobile type.Particularly, these seven sections comprise from three sections of the phase one, constant speed section and from three sections of subordinate phase.
In constant acceleration pattern, acceleration curve or profile 20 keep the constant command value in each section 1-3.The section start of the subordinate phase section of starting from 5 that moves.Especially, move and continue, up to order acceleration value J through constant speed section (section 4)
cAcceleration value J greater than the current sampling period that calculates
n, but less than the acceleration value J in next sampling period that calculates
N+1Till.At the section start (section 5) of subordinate phase, at time n, processor 3 is carried out J
nAs the acceleration value.
As shown in Figure 2, acceleration curve 20 has value J in the duration of sampling time n and the section of running through 5
nThe value of the acceleration of section 5,6 and 7 will always be less than or equal to bid value.In this example scenario, reach the required acceleration value of end condition and represent the retarded velocity that is decelerated to than low velocity.
In Fig. 2, accelerating curve 22 shows and runs through mobile acceleration curve 20 corresponding acceleration and reach its maximal value in section 2.Rate curve 24 shows and runs through mobile acceleration curve 20 and accelerating curve 22 corresponding speed.Speed reaches its maximal value in section 4.The displacement of controlled plant is illustrated by displacement curve 26, and it is corresponding to acceleration profile 20, acceleration profile 22 and velocity profile 24.
Two stages with constant speed section move owing to wherein all not controlled variable reach peaked point-to-point moving and obtain.Speed, acceleration and retarded velocity all reach their maximal value.Table 1 has been described each section and unique aspect thereof.
Table 1
| Segment number | Describe |
| 1 | Utilize the acceleration of appointment to control the constant acceleration section of the increase of acceleration rate.In case reach maximum constant acceleration and acceleration vanishing section, maybe need to reduce acceleration rate to satisfy the end condition of wishing, this section just stops. |
| 2 | Zero acceleration/constant acceleration section, wherein constant acceleration is the maximal value of supply.Order constant acceleration when needs and reduce acceleration with the maximal rate that reaches user's appointment or when moving the required peaked value of the end condition that reaches hope, this section termination. |
| 3 | Utilize the acceleration of appointment to control the constant negative acceleration section that acceleration rate descends.In case acceleration and acceleration are zero and reach the maximum constant speed of appointment or satisfy and reach the required peak velocity of end condition that this section just stops. |
| 4 | Zero acceleration, zero acceleration and constant speed section.When the negative constant acceleration of needs order slows down when arriving the position of wishing this section termination. |
| 5 | Utilize the acceleration of appointment to control the constant negative acceleration section of the increase of retarded velocity rate.Become the zero end condition of retarded velocity rate with satisfied hope that maybe need to reduce in case reach constant retarded velocity and acceleration, this section just stops. |
| 6 | Zero acceleration, constant retarded velocity section are wherein supplied constant retarded velocity.When needs order acceleration reduces the retarded velocity rate when reaching the end condition of hope, this section stops. |
| 7 | Utilize the acceleration of appointment to control the constant acceleration section of the decline of retarded velocity rate.In case move the end condition that reaches hope, this section just stops. |
In one embodiment of the invention, processor 3 utilizes constant acceleration pattern to calculate motion outline.In this case, acceleration is a controlled variable, and acceleration and the speed maximal value for not being exceeded.In order to simplify path planning algorithm, processor 3 calculates in mobile carrying out and successfully satisfies the required acceleration value of end condition.This is also referred to as retarded velocity and separates.Yet, depend on end condition, reach the required acceleration value of end condition and can represent and be decelerated to than the retarded velocity of low velocity or accelerate to the acceleration of fair speed.
In this two stages orbit generation method, the phase one order is moved and is arrived the constant speed section.Subordinate phase is monitored mobile progress consistently must start the point with the final condition that arrives target location or hope to determine retarded velocity.Phase one is used for planning initial motion.Therefore, only need on the sampling period that newer command arrives, to carry out phase one calculating.The operation subordinate phase is taked to control to reach the time of end condition to determine subordinate phase.
Though wish on the initial sampling period that order is moved, not only to move the phase one but also move subordinate phase and calculate, do not do this requirement.For the Balance Treatment load, processor 3 can be divided on a plurality of sampling periods the processing that the phase one calculates and subordinate phase is calculated.Only require to move when just beginning subordinate phase on this cycle in the initial sampling period, the division of this processing just influences the path of hope.This is very small influence, and in many situations, the improvement in performance that obtains is worth it.Yet, must take moving of the point controlled because path planning apparatus must can be handled starting condition, so the extra firmware of needs through subordinate phase.
Phase one order motion arrives section 4 (constant speed sections).Processor 3 section of consideration 5-7 not in the phase one.Therefore, processor 3 utility command values are calculated moving that maximum command speed (starting point of section 4) is finished.Though this motion outline may be before subordinate phase begins can the section of arrival 4, still significantly reduced the complicacy of algorithm.
The subordinate phase monitoring phase one needs to slow down or quicken to reach the end condition of hope to determine when.Therefore, the mobile starting condition of current execution as the retarded velocity equation.Because processor only need the section of solving 5,6 and 7, so this has significantly reduced the complicacy of retarded velocity system of equations.
When uncontrolled variables and/or starting condition produce some section no longer when separating required separating time optimal, move the section that needs less than seven.Therefore, processor 3 can need not to calculate or use all sections mobile successfully to finish in the time quantum of minimum.In addition, subordinate phase can be in any time after the phase one begins, even begins in the mobile section of being in 1 time.
The input command value of acceleration, speed, acceleration and retarded velocity is appointed as absolute value by the user.Yet, the size of bid value during moving be not all be on the occasion of.Therefore, microprocessor 3 is given the input command value with correct symbol.
In order to give input value with correct symbol, processor 3 will work as precondition and command position compares.If command position is greater than initial position, then speed is being for just, and acceleration is being for just, and retarded velocity is for negative, and initial acceleration is for just.In Fig. 2, displacement curve 26 is followed the profile of command position greater than initial position.On the contrary, the stacked graph of Fig. 3 has shown the example scenario of initial position greater than the final position of displacement curve 36.Processor 3 is given bid value with opposite symbol.Therefore, speed is for negative, and acceleration is for negative, and retarded velocity is for just, and initial acceleration is for bearing.
Fig. 3 has shown the common time ruler upper pathway order and the stacked graph of time relation.In Fig. 3, need seven sections and finish mobile.Similar to Fig. 2, these seven sections comprise from three sections of the phase one, constant speed section and from three sections of subordinate phase, but in the section 1 bid value of acceleration for negative.
The starting point of the subordinate phase section of starting from 5 of Fig. 3.Especially, move and continue, up to order acceleration value J through constant speed section (section 4)
cAcceleration value J greater than the current sampling period that calculates
n, but less than the acceleration value J in next sampling period that calculates
N+1Till.At the section start (section 5) of subordinate phase, at time n, processor 3 uses J
nAs the acceleration value.
As shown in Figure 3, acceleration curve 20 has value J in the duration of sampling time n and the section of running through 5
nThe value of the acceleration of section 5,6 and 7 will always be less than or equal to bid value.In this example scenario, reach the acceleration that the required acceleration value representative of end condition accelerates to fair speed.
In Fig. 3, accelerating curve 32 shows the acceleration curve 30 corresponding acceleration of accekeration for bearing with section 1 equally.Rate curve 34 shows acceleration curve 30 and the accelerating curve 32 corresponding speed of velocity amplitude for bearing with section 1.
Example scenario among Fig. 4 is to have shown the time ruler upper pathway order common in the phase one stage casing 1-3 that moves and the stacked graph of time relation.Acceleration curve 40 keeps steady state value in each independent section.The equal and opposite in direction of the acceleration in the section 1 and 3.Accelerating curve 42 shows with acceleration curve 40 corresponding acceleration and reach its maximal value in section 2.Rate curve 24 shows in section 1-3 and acceleration curve 40 and accelerating curve 42 corresponding speed.
Illustrate as shown in Figure 4 and by curve 42, the initial acceleration value is greater than the order accekeration.Here, first of the path generating apparatus action is to be decelerated to maximum acceleration value.The situation that this symbol that has produced acceleration in the section 1 and 3 equates.
As mentioned before, can to require also to may not request all sections 1-7 successfully to finish mobile for path planning apparatus.Processor 3 determines to finish the quantity that moves required discrete time section.In the phase one, which path planning apparatus determine to need among the section 1-3.Compute segment 4, because it is regarded as the end condition of phase one.If motion outline arrives section 4, then processor 3 continues sampling as usual.When changing the acceleration value when reaching end condition, subordinate phase works.
Return with reference to the phase one, use the known equation of motion, processor 3 solves and reaches the required peak accelerator of end condition (beginning of section 4).Processor 3 compares peak accelerator and the mobile peak acceleration that is allowed.If the acceleration that peak accelerator allows less than maximum, the then section of needs 2 not.If peak accelerator then needs second section to come the peak limiting acceleration greater than the acceleration that maximum allows.
As mentioned above, before any motion of order, processor 3 is finished required the separating of mobile phase one for each sampling period calculating.In order to simplify path planning algorithm, in the phase one, processor 3 order motions arrive section 4.In the phase one, the starting point of section 4 is considered as the end condition that it moves.
In some cases, the section of needs 2 is not finished the mobile phase one.Fig. 5 shows the example scenario when the section of needs not 2.Fig. 5 has shown the common time ruler upper pathway order and the stacked graph of time relation.The motion outline of Fig. 5 comprises from two sections of the phase one, constant speed section and from two sections of subordinate phase.In Fig. 5, the section of needs 2, do not allow to reach peak acceleration because the maximal rate of curve 54 is too low to reach and to keep maximum and wish speed (section 4) before needs degree of will speed up is kept to zero.In curve 52, the acceleration that the peak accelerator that is reached allows less than maximum.
In the section 1 of accelerating curve 52, acceleration rate increases, and in section 3, acceleration rate descends.Therefore, accelerating curve 52 is followed the triangle acceleration profile from section 1-3.Accelerating curve 52 is followed triangular-shaped profile, can not surpass any constraint because shortest path carried out by processor 3.The displacement of controlled plant is illustrated by displacement curve 56, and it is corresponding to acceleration profile 50, acceleration profile 52 and velocity profile 54.
Equally as shown in Figure 5, the starting point of the subordinate phase section of starting from 5.Especially, move and continue, up to order acceleration value J through constant speed section (section 4)
cAcceleration value J greater than the current sampling period that calculates
n, but less than the acceleration value J in next sampling period that calculates
N+1Till.After subordinate phase (section 5) beginning, at time n, processor 3 uses J
nAs the acceleration value.
On the contrary, when maximal rate enough greatly consequently reaches peak acceleration, need all sections 1,2 and 3 to finish the mobile phase one.In other words, the mobile constant acceleration section (section 2) that needs reaches command speed.
In example scenario shown in Figure 6, need all three section 1,2 and 3 to finish the mobile phase one.Fig. 6 has shown the common time ruler upper pathway order and the stacked graph of time relation.In this case, abandoned by the new movement directive of user's appointment moving of carrying out.New movement directive does not exceed mobile program limit value.The displacement of controlled plant is illustrated by displacement curve 66, and it is corresponding to acceleration profile 60, acceleration profile 62 and velocity profile 64.
During the section 2 that moves, receive new input command value, it provides absolute value is 100 acceleration.In accelerating curve 62, the acceleration of this section 2 has the value greater than the newer command acceleration.Therefore, move and to be decelerated to this new peak acceleration.In addition, the mobile acceleration maximal rate limited and that reach hope that is necessary for.
New acceleration order can be found out in accelerating curve 62 and rate curve 64 influence of motion feature.Accelerating curve 62 slows down to reach new peak acceleration.Processor 3 is carried out newer command acceleration value and is experienced another section 1, thereby begins the phase one once more.This allows to move and is decelerated to new maximum acceleration value 100 from accekeration 200.Though accelerating curve 62 is in the maximum constant acceleration, rate curve 64 linearities increase to the maximal rate of hope.
In a further exemplary embodiment, processor 3 can reduce acceleration during existing moving.Can carry out and reduce maximum acceleration and make peak acceleration be changed to currency or reduce its order.In this case, move problem is arranged.In order to use this new acceleration value, require to be moved beyond maximal rate.Processor 3 can not exceed program limit value, for example, and such as maximal rate or other maximal value.
Therefore, need current acceleration value to be issued to maximal rate in the situation of not toning.Processor 3 generation warnings and the mobile the current command value that continues to use acceleration and acceleration are till acceleration is finished.At this point, processor 3 is carried out new value.
Fig. 7 is the example scenario when producing warning in the above described manner.Fig. 7 has shown the common time ruler upper pathway order and the stacked graph of time relation.And in the section 2 of acceleration curve 70, receive the acceleration value is reduced to 10 and peak acceleration reduced to 100 input from 200 from 100.Yet, use newer command acceleration value 10 need be moved beyond the maximal rate of order.In other words, the acceleration value being reduced to 10 new movement directive will not allow acceleration through reaching zero before the maximal rate.Because the speed that slows down, accelerating curve 82 will can not reach zero fast enough to reach the maximal rate of order.The maximum speed value of order is with toning, and this will exceed program limit value.Because processor 3 will can not exceed these values, so processor 3 produces warning and use original acceleration value 100 to continue to move.Correspondingly, acceleration curve 70, accelerating curve 72 and rate curve 74 use the original directive value of acceleration and acceleration to continue to move, till the starting point of section 5.
In the section 5 of mobile profile shown in Figure 7, the subordinate phase that moves begins, and 3 pairs of acceleration curves of processor 70 distribute new value 10.Accelerating curve 72 sections of running through 5 ground correspondingly slow down with new acceleration value.Rate curve 74 shows and acceleration curve 70 and accelerating curve 72 corresponding speed.In addition, the displacement of controlled plant is illustrated by displacement curve 76, and it is corresponding to acceleration profile 70, acceleration profile 72 and velocity profile 74.
When the phase one of processor 3, the order motion arrived section 4, the subordinate phase monitoring phase one needed to slow down or quicken to reach the end condition of hope to determine when.Therefore, the mobile starting condition of current execution as the retarded velocity equation.In subordinate phase, the path planning apparatus section of solving 5,6 and 7.The value of the acceleration of section 5,6 and 7 will always be less than or equal to bid value.
In subordinate phase, path planning apparatus can need also not the section of needs 6 successfully to finish mobile.At first, processor 3 is owing to the peak deceleration that there is not the limit in hypothesis is calculated in order.Processor 3 compares the peak deceleration that calculates then with the maximum retarded velocity that allows.If the retarded velocity that the peak deceleration that calculates allows less than maximum, the then section of needs 6 not.If the retarded velocity that the peak deceleration that calculates allows greater than maximum, then the section of needs 6.In this case, can use the use of the another kind of algorithm section of expression 6, it will insert constant retarded velocity section.In subordinate phase, when during less than target velocity, also calculating peak accelerator at the initial velocity of the starting point of section 5.
Fig. 8 shows when the section of needs 6 not and finishes example scenario when mobile.Fig. 8 has shown common order of time ruler upper pathway and time relation.In Fig. 8, the section of needs 6, because the retarded velocity that the peak deceleration that calculates allows less than maximum.
In the section 5 of accelerating curve 82, acceleration rate descends, and in section 7, acceleration rate increases.Therefore, accelerating curve 82 is followed the triangle retarded velocity profile from section 5-7.Accelerating curve 82 is followed triangular-shaped profile, can not surpass any constraint because shortest path carried out by processor 3.
Again, when not limiting retarded velocity, form triangular-shaped profile.Processor 3 is carried out and is being no more than the shortest retarded velocity path that produces under the situation of any constraint when retarded velocity began on the sampling period.Therefore, the triangle projectile deceleration history is followed in the path of curve 82.Alternatively, section 6 is finished mobilely if desired, and then processor 3 inserts constant retarded velocity section.
In subordinate phase, processor 3 solves and successfully satisfies the required acceleration of end condition that is used to slow down.Depend on end condition, retarded velocity is separated and may be needed to be decelerated to than the retarded velocity of low velocity or accelerate to the acceleration of fair speed.Even acceleration/retarded velocity slope is little, processor 3 also always can solve it.Yet the acceleration value must still be no more than the path profile of the minimum time of any command parameter or constraint as far as possible to allow processor 3 generation representatives to finish near bid value.Equally, subordinate phase began on the sampling period, so in the starting point of section 5, processor 3 generates and shows the success that execution calculates on the sampling period and satisfy the motion outline in the shortest time path of the required acceleration value of end condition.
Though by reducing the track that acceleration calculates will can not be ideal trajectory, bid value will can not be exceeded.Therefore, ideal trajectory is known and in the somewhere between two sampling periods.Preferably, the sampling period is short in as far as possible to improve motion control.
Again, satisfy the track that the final track of end condition needn't be slow down.Depend on mobile final condition, final track can be the track that quickens.Especially, the starting point of subordinate phase, or section 5 can be retarded velocity section or acceleration section.In addition, can accept the non-zero speed end condition.Non-zero speed end condition even can have value greater than the maximal rate that moves moves and moves the result who mixes with another because it can be one.
As described herein with shown in the accompanying drawing, the structure of path planning system and method and setting are just illustrative.Though described only some embodiment of the present invention in this disclosure in detail, but those skilled in the art will easily understand after reading present disclosure, under the prerequisite of novel teachings that does not break away from theme cited in the claim in fact and advantage, many remodeling (for example, the variation of the value of various size of component, yardstick, structure, shape and ratio, parameter, the purposes that setting, material are installed, orientation etc.) are possible.Therefore, intention is included in all these type of remodeling as in the scope of the present invention that limits in the claim.The order of any program or method step or order can change or resequence according to an alternative embodiment.In the claims, any device+function clause intention contains the structure that is described to carry out cited function in the literary composition, and not only contains equivalent structures but also contain equivalent structure.Can make other in design, the operating conditions of preferred and other exemplary embodiment with in being provided with substitutes, revises, changes and omission and do not break away from the spirit of embodiments of the invention as claimed in claim.Therefore, technical scope of the present invention is not only contained the foregoing description, and contains to fall all embodiment within the scope of the claims.
Claims (19)
1. system that is used for generating in real time motion outline, described system comprises processor, described processor is configured to:
To move and be split as phase one and subordinate phase, the described phase one comprises that order is described moves towards the constant speed section, and described subordinate phase is included in to move forward into to calculate between the departure date and successfully arrives the required acceleration value of end condition.
2. system according to claim 1 is characterized in that, described processor further is configured to:
Calculate described subordinate phase and must take to control arriving the point of target location, the point that wherein said subordinate phase must be taked to control can appear at any time of described phase one after beginning; And
Transmit command signal, be used between known initial position and described target location, carrying out and move.
3. system according to claim 1 is characterized in that, described processor further is configured to: will the processing that the phase one calculates and subordinate phase is calculated be divided on a plurality of sampling periods.
4. system according to claim 2, it is characterized in that, described processor further is configured to: be no more than the described motion outline of generation under the prerequisite of program limit value, described motion outline shows the shortest path of time that arrives described target location, wherein satisfies the required acceleration value of end condition on the sampling period with running succeeded.
5. system according to claim 2, it is characterized in that, described processor further is configured to: determine to finish the described quantity that moves required discrete time section, wherein said motion outline is included in a plurality of discrete time sections between described initial position and the described target location.
6. system according to claim 5 is characterized in that: one in described subordinate phase and the described a plurality of discrete time section begins simultaneously.
7. system according to claim 1 is characterized in that, described processor further is configured to: give the input command value with correct symbol, wherein the input command value of acceleration, speed, acceleration and retarded velocity is appointed as absolute value by the user.
8. system according to claim 4 is characterized in that, described processor further is configured to:
Abandon ongoing moving after receiving the new movement directive value of at least one user's appointment, wherein said at least one new movement directive value does not exceed described program limit value; And
Carry out described at least one newer command value and continue described moving.
9. system according to claim 4 is characterized in that, described processor further is configured to:
Produce warning after receiving the new movement directive value of at least one user's appointment, wherein said at least one new movement directive value exceeds described program limit value; And
Use the current command value to continue ongoing moving.
10. system according to claim 1 is characterized in that, described processor further is configured to:
Calculate the required acceleration value of end condition that successfully reaches the current sampling period;
Calculate the required acceleration value of end condition that successfully reaches next sampling period; And
The acceleration value that the current sampling period that calculates is required and next sampling period that calculates, required acceleration value compared with order acceleration value.
11. system according to claim 9, it is characterized in that, described processor further is configured to: when described order acceleration value is between the acceleration value in required acceleration value of the current sampling period that calculates and next sampling period of calculating, carry out required acceleration value of current sampling period of calculating to begin described mobile subordinate phase.
12. system according to claim 11 is characterized in that, carries out the required acceleration value of current sampling period that calculates in the time in current sampling period.
13. a system that is used for generating in real time motion outline, described system comprises:
Processor, described processor is configured to:
Transmission is based on the command signal of described motion outline;
To move and be split as phase one and subordinate phase;
Calculating described subordinate phase must take to control to arrive the point of target location;
Be configured to receive at least one input/output module of described command signal; And
Be used for described mobile controlled plant.
14. system according to claim 13 is characterized in that, described processor further is configured to:
Successfully arrive the required acceleration value in described target location and must take the point controlled to carry out the acceleration value that calculates moving forward into to calculate between the departure date in described subordinate phase;
Wherein, the described subordinate phase point that must take to control appeared on the sampling period; And
Wherein, the described subordinate phase point that must take to control can appear at any time of described phase one after beginning.
15. a method that is used for generating in real time motion outline, described method comprises:
To move and be split as phase one and subordinate phase, the described phase one comprises that order is described moves towards the constant speed section, and described subordinate phase is included in to move forward into to calculate between the departure date and successfully arrives the required acceleration value of end condition.
16. method according to claim 15 is characterized in that, described method also comprises:
Calculate described subordinate phase and must take to control arriving the point of target location, the point that wherein said subordinate phase must be taked to control can appear at any time of described phase one after beginning; And
Transmit command signal, be used between known initial position and described target location, carrying out and move.
17. method according to claim 16, it is characterized in that, described method also comprises: be no more than the described motion outline of generation under the prerequisite of program limit value, described motion outline shows the shortest path of time that arrives described target location, wherein runs succeeded on the sampling period and satisfies the required acceleration value of end condition.
18. method according to claim 15 is characterized in that, described method also comprises:
Calculate the required acceleration value of end condition that successfully reaches the current sampling period;
Calculate the required acceleration value of end condition that successfully reaches next sampling period; And
The acceleration value that the current sampling period that calculates is required and next sampling period that calculates, required acceleration value compared with order acceleration value.
19. method according to claim 18, it is characterized in that, described method also comprises: when described order acceleration value is between the acceleration value in required acceleration value of the current sampling period that calculates and next sampling period of calculating, carry out required acceleration value of current sampling period of calculating to begin described mobile described subordinate phase.
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| PCT/US2008/072966 WO2009055120A2 (en) | 2007-10-21 | 2008-08-13 | System and method for jerk limited trajectory planning for a path planner |
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| WO2009055120A2 (en) | 2009-04-30 |
| JP2011501292A (en) | 2011-01-06 |
| JP5343081B2 (en) | 2013-11-13 |
| EP2220544B1 (en) | 2013-10-16 |
| WO2009055120A3 (en) | 2010-11-25 |
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